Institute of Assembly Technology and Robotics Research Publications
Positionierende Maschine (Positioning machine e.g. handling robot for transporting objects e.g. airplane components, has moving units that are mechanically coupled with end effector in four degrees of freedom)

Performance of Pseudo-Elastic Flexure Hinges in Parallel Robots for Micro-Assembly Tasks

Categories Zeitschriften/Aufsätze (reviewed)
Year 2004
Authors Hesselbach, J.; Raatz, A.; Kunzmann, H.
Published in CIRP Annals - Manufacturing Technology, Elsevier B.V., 2004, 53/1, pp. 239-332
Description

This paper presents the application of pseudo-elastic flexure hinges in parallel robots for micro-assembly tasks. The material used for the flexure hinges is a shape memory alloy permitting angular deflections of ± 30°. Based on this flexibility sufficiently large workspaces of the robots can be achieved. Simulations show that kinematic deviations caused by flexure hinges are reducing the absolute positioning accuracy of compliant mechanisms. Likewise the simulations indicate that the kinematic behaviour of compliant mechanisms differs only slightly from their counterparts with conventional joints, which are analytically described by means of a rigid-body model. Experimental measurements with two compliant robots show the possibility to increase repeatability and resolution by using flexure hinges.

DOI 10.1016/S0007-8506(07)60709-4